Let us elaborate on the last comment by looking at theories in \(d=3\)  dimensions. Following [1]} we parametrise the elements \(r\)  of the 3-dimensional rotation group through Euler angles,
\(r(\phi ,\theta ,\psi ) = {\rm e}^{-\phi M_{12}} {\rm e}^{-\theta M_{23}} {\rm e}^{-\psi M_{12}}.\) 
